说明：

• 该代码请放在全英文的路径下使用，已经在Ubuntu系统下测试可用；
• 若在windows下使用，可能会由于路径原因出问题，还没进行测试；
• 该脚本通过调用D455深度相机的RGB摄像头进行录像；
• 运行后，按q键退出； 按k键可暂停、继续录像。

# for D455 get RGB Video Capture
# press Q to quit
import pyrealsense2 as rs
import numpy as np
from pathlib import Path
import cv2, re, globdef increment_path(path, exist_ok=False, sep='', mkdir=False):# Increment file or directory path, i.e. save_dir/RGB_video/video, video2, video3, ... etc.path = Path(path)  # os-agnosticn = ''if path.exists() and not exist_ok:suffix = path.suffixpath = path.with_suffix('')dirs = glob.glob(f"{path}{sep}*")  # similar pathsmatches = [re.search(rf"%s{sep}(\d+)" % path.stem, d) for d in dirs]i = [int(m.groups()[0]) for m in matches if m]  # indicesn = max(i) + 1 if i else 2  # increment numberpath = Path(f"{path}{sep}{n}{suffix}")  # update pathdir = path if path.suffix == '' else path.parent  # directoryif not dir.exists() and mkdir:dir.mkdir(parents=True, exist_ok=True)  # make directoryreturn path, str(n)def save_RGBvideo_D455(save_size=(640, 480), save_fps=30, save_mp4=False, dcam_size=(640,480), dcam_fps=30):#====create save_path =======#video_dirname, order_name = 'save_dir/RGB_video', 'video' # eg. 3classes/train,  eg. expexist_ok = Falsesave_dir, order_num = increment_path(Path(video_dirname) / order_name, exist_ok=exist_ok)save_dir = str(save_dir)order_num = int(order_num) if order_num.isnumeric() else ''Path(save_dir).mkdir(parents=True, exist_ok=True)#===========================##===== configure for video format, flv, MP4, etc...=======#if save_mp4:  # save_format : mp4fourcc, save_file = cv2.VideoWriter_fourcc('M', 'J', 'P', 'G'), Path(save_dir) / f'video{order_num}.mp4'else:fourcc, save_file = cv2.VideoWriter_fourcc('F', 'L', 'V', '1'), Path(save_dir) / f'video{order_num}.flv'save_size, save_fps,  = save_size, save_fpsWriter = cv2.VideoWriter(str(save_file), fourcc, save_fps, save_size)#=========================================================##===========Configure color streams for D455 realsense camera======#pipeline = rs.pipeline()config = rs.config()# Get device product line for setting a supporting resolutionpipeline_wrapper = rs.pipeline_wrapper(pipeline)pipeline_profile = config.resolve(pipeline_wrapper)device = pipeline_profile.get_device()device_product_line = str(device.get_info(rs.camera_info.product_line))found_rgb = Falsefor s in device.sensors:if s.get_info(rs.camera_info.name) == 'RGB Camera':found_rgb = Truebreakif not found_rgb:print("The demo requires Depth camera with Color sensor")exit(0)if device_product_line == 'L500':config.enable_stream(rs.stream.color, 960, 540, rs.format.bgr8, 30)else:config.enable_stream(rs.stream.color, dcam_size[0], dcam_size[1], rs.format.bgr8, dcam_fps)#==================================================## Start streamingpipeline.start(config)print('Depth Camera init OK!!!')writer_flag = Truetry:print('Start processing, press k to pause or continue')while True:# Wait for a coherent pair of frames: depth and colorframes = pipeline.wait_for_frames()color_frame = frames.get_color_frame()if not color_frame:continue# convert to numpy arraycolor_image = np.asanyarray(color_frame.get_data())if writer_flag:Writer.write(color_image)else:paused_warning = 'Capture is paused,  k to continue.....'cv2.putText(color_image, paused_warning, (int(color_image.shape[0]/10), int(color_image.shape[1]/12)),cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 3, cv2.LINE_AA)print(paused_warning)#===show RGB image=====#cv2.namedWindow('RGB_video', cv2.WINDOW_NORMAL)cv2.imshow('RGB_video', color_image)# ====== input waiting====== #k = cv2.waitKey(1)if k == ord('q'): # input 'q' , close the windows,exitcv2.destroyAllWindows()break# pause capturing , and continueif k == ord('k') and writer_flag is True:writer_flag = Falseprint('Now is pause')elif k == ord('k') and writer_flag is False:writer_flag = Trueprint('continue capturing')finally:# Stop streamingprint('the video save to :', save_file)Writer.release()pipeline.stop()print('pipeline Stop, Writer release success.')if __name__ == '__main__':# video save parameters, save_format: mp4 or flvsave_size, save_fps, save_mp4 = (640, 480), 30, True# config Depth camera parameters# RBGsize recommand: (1280, 800), (1280,720), (848, 480), (640, 480), (640, 360), (480,270), (424, 240)# for 32x downsampling --- (1280, 800), (640, 480)# D455fps recommand: 30, 15, 10, 5D455_RGBsize, D455_fps = (640, 480), 30  # recommand same as save_size, save_fpssave_RGBvideo_D455(save_size=save_size, save_fps=save_fps, save_mp4=save_mp4,dcam_size=D455_RGBsize, dcam_fps=D455_fps)